JS

Joris Sijs

7 records found

Learning-Driven Torque Control for Skid-Steer Robots

Knowledge-Assisted Reinforcement Learning with Curriculum-Based System Identification for Trajectory Control

Skid-steer mobile robots present a unique challenge for reinforcement learning (RL) due to their nonholonomic constraints, dynamic wheel coupling, and high susceptibility to slip. Standard RL methods often struggle to achieve stable torque control in such settings, particularly u ...
The autonomy of mobile robots has been greatly improved in recent decades. For these robots, the field of search and rescue is of particular interest. This thesis introduces a new method to let a mobile robot (Spot by Boston Dynamics) explore and search for victims in unknown env ...
Significant work has been done in the field of computer vision focusing on learning and clustering methods. The use of improved learning methods has paved a way forward for researches to explore various theories to improve existing methods. One among various learning methods is H ...

Design of a Graph Neural Network

to predict the optimal resolution of the Sonar Performance Model

Graph Neural Networks are a unique type of Deep Learning models that have a capability to exploit an explicitly stated structure of data representation. By design they carry a strong relational inductive bias, which is a set of assumptions that makes the algorithm prioritize some ...

Situation-Aware Self-Adaptive Localisation Framework

A Knowledge Representation and Reasoning approach

Substantial efforts are being made to make robots more reliable and safe to work around humans. Robots often perform flawless demos in a controlled environment under the supervision of an operator but tend to fail in the real world when deployed for a long period of time due to f ...

PDDL-Based Task Planning of Survey Missions for Autonomous Underwater Vehicles

A generic planning system, taking into account location uncertainty and environmental properties

Autonomous Underwater Vehicles (AUVs) are unmanned vehicles that give the opportunity to carry out lengthy and dangerous tasks autonomously. This is particularly useful for survey tasks, where the objective is to search the seafloor for objects. In this thesis work a planning sys ...
Autonomous Underwater Vehicles (AUVs) are unmanned vehicles that are often used for searching an area of the seabed for objects, such as naval mines. For autonomous planning of such search operations, it is useful to be able to infer what tasks an AUV can perform and how well it ...